code: def define_proj_mat(self):
      self.proj_mat = (
          self.intrinsics.unsqueeze(0)
          @ torch.inverse(self.poses)[:, :3]
      )
  
file_path: slimmerf/dataLoader/blender.py
imports: import torch, cv2
  from torch.utils.data import Dataset
  import json
  from tqdm import tqdm
  import os
  from PIL import Image
  from torchvision import transforms
  from .ray_utils import *
label_desc: Use image node_id 5 for calling the BlenderDataset obj's underlying member method code with example usage: obj.define_proj_mat() without return types